FR3104054B1 - Dispositif de definition d’une sequence de deplacements sur un modele generique - Google Patents

Dispositif de definition d’une sequence de deplacements sur un modele generique Download PDF

Info

Publication number
FR3104054B1
FR3104054B1 FR1914019A FR1914019A FR3104054B1 FR 3104054 B1 FR3104054 B1 FR 3104054B1 FR 1914019 A FR1914019 A FR 1914019A FR 1914019 A FR1914019 A FR 1914019A FR 3104054 B1 FR3104054 B1 FR 3104054B1
Authority
FR
France
Prior art keywords
sequence
movements
defining
generic model
generic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1914019A
Other languages
English (en)
French (fr)
Other versions
FR3104054A1 (fr
Inventor
François Eyssautier
Guillaume Gibert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Capsix
Original Assignee
Capsix
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1914019A priority Critical patent/FR3104054B1/fr
Application filed by Capsix filed Critical Capsix
Priority to PCT/FR2020/052217 priority patent/WO2021116554A1/fr
Priority to JP2022524669A priority patent/JP2023505749A/ja
Priority to EP20828658.3A priority patent/EP4072794B1/de
Priority to KR1020227018330A priority patent/KR20230011902A/ko
Priority to CA3155473A priority patent/CA3155473A1/fr
Priority to CN202080074843.XA priority patent/CN114599487A/zh
Priority to US17/770,254 priority patent/US20220414291A1/en
Publication of FR3104054A1 publication Critical patent/FR3104054A1/fr
Application granted granted Critical
Publication of FR3104054B1 publication Critical patent/FR3104054B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/56—Particle system, point based geometry or rendering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/20—Indexing scheme for editing of 3D models
    • G06T2219/2016—Rotation, translation, scaling

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Hardware Design (AREA)
  • Human Computer Interaction (AREA)
  • Software Systems (AREA)
  • Geometry (AREA)
  • Computer Graphics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Architecture (AREA)
  • Image Processing (AREA)
  • Processing Or Creating Images (AREA)
  • Numerical Control (AREA)
  • Image Analysis (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
FR1914019A 2019-12-10 2019-12-10 Dispositif de definition d’une sequence de deplacements sur un modele generique Active FR3104054B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
FR1914019A FR3104054B1 (fr) 2019-12-10 2019-12-10 Dispositif de definition d’une sequence de deplacements sur un modele generique
JP2022524669A JP2023505749A (ja) 2019-12-10 2020-11-30 汎用モデルにおいて運動のシーケンスを定義するための装置
EP20828658.3A EP4072794B1 (de) 2019-12-10 2020-11-30 Vorrichtung zur definition einer bewegungssequenz in einem generischen modell
KR1020227018330A KR20230011902A (ko) 2019-12-10 2020-11-30 일반 모델에서 이동 시퀀스를 정의하는 장치
PCT/FR2020/052217 WO2021116554A1 (fr) 2019-12-10 2020-11-30 Dispositif de definition d'une sequence de deplacements sur un modele generique
CA3155473A CA3155473A1 (fr) 2019-12-10 2020-11-30 Dispositif de definition d'une sequence de deplacements sur un modele generique
CN202080074843.XA CN114599487A (zh) 2019-12-10 2020-11-30 用于在通用模型上定义运动序列的设备
US17/770,254 US20220414291A1 (en) 2019-12-10 2020-11-30 Device for Defining a Sequence of Movements in a Generic Model

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1914019A FR3104054B1 (fr) 2019-12-10 2019-12-10 Dispositif de definition d’une sequence de deplacements sur un modele generique
FR1914019 2019-12-10

Publications (2)

Publication Number Publication Date
FR3104054A1 FR3104054A1 (fr) 2021-06-11
FR3104054B1 true FR3104054B1 (fr) 2022-03-25

Family

ID=70154526

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1914019A Active FR3104054B1 (fr) 2019-12-10 2019-12-10 Dispositif de definition d’une sequence de deplacements sur un modele generique

Country Status (8)

Country Link
US (1) US20220414291A1 (de)
EP (1) EP4072794B1 (de)
JP (1) JP2023505749A (de)
KR (1) KR20230011902A (de)
CN (1) CN114599487A (de)
CA (1) CA3155473A1 (de)
FR (1) FR3104054B1 (de)
WO (1) WO2021116554A1 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD1009283S1 (en) 2020-04-22 2023-12-26 Aescape, Inc. Therapy end effector
US11999061B2 (en) 2020-05-12 2024-06-04 Aescape, Inc. Method and system for autonomous object manipulation
US11998289B2 (en) 2020-05-12 2024-06-04 Aescape, Inc. Method and system for autonomous therapy
US11858144B2 (en) 2020-05-12 2024-01-02 Aescape, Inc. Method and system for autonomous body interaction

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL133551A0 (en) * 1999-12-16 2001-04-30 Nissim Elias Human touch massager
DE10130485C2 (de) * 2001-06-25 2003-06-26 Robert Riener Programmierbarer Gelenksimulator
CN102157009A (zh) * 2011-05-24 2011-08-17 中国科学院自动化研究所 基于运动捕获数据的三维人体骨架运动编辑方法
US9226796B2 (en) * 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
JP5905840B2 (ja) * 2013-01-30 2016-04-20 トヨタ自動車株式会社 触覚センサシステム、軌道取得装置、及び、ロボットハンド
SG10201402803RA (en) 2014-06-02 2016-01-28 Yizhong Zhang A mobile automatic massage apparatus
CN104856858B (zh) * 2015-06-10 2017-01-25 管存忠 一种示教再现按摩机械手
US20170266077A1 (en) * 2016-03-21 2017-09-21 Christian Campbell Mackin Robotic massage machine and method of use
CN105690386B (zh) * 2016-03-23 2019-01-08 北京轩宇智能科技有限公司 一种机械手臂遥操作系统及遥操作方法
FR3060170B1 (fr) * 2016-12-14 2019-05-24 Smart Me Up Systeme de reconnaissance d'objets base sur un modele generique 3d adaptatif
CN107341179B (zh) * 2017-05-26 2020-09-18 深圳奥比中光科技有限公司 标准运动数据库的生成方法、装置及存储装置
FR3067957B1 (fr) * 2017-06-26 2020-10-23 Capsix Dispositif de gestion des deplacements d'un robot et robot de soin associe
CN109907950A (zh) * 2017-12-13 2019-06-21 曹可瀚 按摩机和按摩方法
CN109571432A (zh) * 2018-11-26 2019-04-05 南京航空航天大学 一种基于力传感器的机器人直接示教方法
CN109676615B (zh) * 2019-01-18 2021-08-06 合肥工业大学 一种利用手臂肌电信号与动作捕捉信号的喷涂机器人示教方法及装置

Also Published As

Publication number Publication date
CA3155473A1 (fr) 2021-06-17
EP4072794A1 (de) 2022-10-19
JP2023505749A (ja) 2023-02-13
US20220414291A1 (en) 2022-12-29
WO2021116554A1 (fr) 2021-06-17
FR3104054A1 (fr) 2021-06-11
EP4072794B1 (de) 2023-11-22
CN114599487A (zh) 2022-06-07
EP4072794C0 (de) 2023-11-22
KR20230011902A (ko) 2023-01-25

Similar Documents

Publication Publication Date Title
FR3104054B1 (fr) Dispositif de definition d’une sequence de deplacements sur un modele generique
MY196884A (en) Sealing apparatus with swellable metal
FR3067957B1 (fr) Dispositif de gestion des deplacements d'un robot et robot de soin associe
WO2019008402A8 (en) METHOD, SYSTEM AND COMPUTER-READABLE MEDIUM FOR CAMERA CALIBRATION
EP1374932A3 (de) Spritzenpumpe
FR3103048B1 (fr) Procede et dispositif de generation de donnees synthetiques d'apprentissage pour machine d'intelligence artificielle pour l'aide a l'atterrissage d'aeronef
FR3095543B1 (fr) Dispositif de commande 3D à retour haptique
FR3050115B1 (fr) Dispositif de distribution de produit fluide synchronise avec l'inhalation.
EP0475923A1 (de) Vorrichtung zur Kraftregulierung der Niederhalter einer Presse
FR2540959B1 (fr) Dispositif distributeur de fluide, notamment pour telecommande
EP3841447A4 (de) Berührungsempfindliche datenaufzeichnungsvorrichtung zur erweiterung von erotischen medien
EP2777921A3 (de) Verfahren und Vorrichtung zur räumlichen Ortung von Linsenkomponenten auf einem Linsenvorläufer
FR3019623B1 (fr) Poignee pour un reservoir mobile, comprenant un dispositif de communication
FR3039069B1 (fr) Dispositif d'injection automatique de produit liquide comprenant un ressort d'injection.
MY196233A (en) Inner Diameter Measurement Apparatus
FR2857489B1 (fr) Telecommande pour engins de travaux publics a poussoir suiveur
FR2422889A1 (fr) Soupape de regulation a declenchement automatique
EP3745933A4 (de) Zweiseitige kochvorrichtung mit mechanismus zum verriegeln der oberen plattenposition zum kochen mit hochkompressiver präzisionspositionssteuerung
FR3075285B1 (fr) Amplificateur de pression hydraulique
EA202190124A1 (ru) Аппарат для управления устройством, генерирующим пар
WO2020096643A8 (en) Method for error handling in the toner refill process
FR3081452B1 (fr) Distributeur de produit fluide.
FR2677082B1 (fr) Dispositif pour commander un servomoteur a fluide sous pression du type a piston axial.
MY175503A (en) Downhole apparatus, system and method
FR3066230B1 (fr) Dispositif de reservoir d'huile pour moteur

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20210611

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5